Open devrite opened 4 months ago
Should be possible: https://docs.ros.org/en/rolling/Tutorials/Advanced/Recording-A-Bag-From-Your-Own-Node-Py.html#record-synthetic-data-from-a-node
topic_info = rosbag2_py._storage.TopicMetadata(
id=0,
name='synthetic',
type='example_interfaces/msg/Int32',
serialization_format='cdr')
self.writer.create_topic(topic_info)
Also see https://github.com/ros2/rosbag2/pull/1648 for QoS changes.
Rolling has changed the topic metadata info and added topic_id (returned by storage or upon creation), qos and other info.
See https://github.com/ros2/rosbag2/pull/1538
They probably can be null initialized (need to check) but we need to adapt the code if possible maintaining backwards while hiding it from the user/dev somehow if they do not need or touch it.